Routing machine



"United States Patent [72] Inventor v John F. Walter Atlanta, Ga. [21]Appl. No. 726,139 [22] Filed May 2, 1968 [45] Patented Dec. 15, 1970[73] Assignee Lockheed Aircraft Corporation Burbank, Calif.

[54] ROUTING MACHINE 16 Claims, 7 Drawing Figs.

[52] U.S.Cl 90/13.], 144/144 [51] Int. Cl B23c H16 [50] FieldofSearch..90/13, 13.7, 13.1, 13.2,12; 144/144 [56] References Cited UNITEDSTATES PATENTS 1,357,203 10/1920 Overlin 144/144 Primary ExaminerGcraldA. Dost Altorneyslames A. l-linkle and George C. Sullivan ABSTRACT: Arouting machine having substantial automatic capabilities to routseveral workpieces at once which will conform to a template. Thetemplate and workpieces, either of linear or curvilinear shape dependingupon the holding fixture configuration, are clamped in the holdingfixture comprising several jaw pairs each of which are opened and closedby pneumatically operated bags. A self propelled gantry is movablyattached to the holding fixture and is adapted to move around theperiphery of the holding fixture throughout the area encompassed by thetemplate and work pieces. The gantry contains a tracer system whichfollows the contours of the template. Routers on the gantry, beingcontrolled by the tracer system to duplicate the contours of thetemplate, rout the workpieces to the same configuration.

PATENTEDBEB 1 519m SHEET 1 OF 6 [Hun].

FT H3 57- INVIiN'I'OR. JOHN F. WALTER Attorney PATENTEBDEHSIETB $547,002

SHEET 2 SF 6 INVIIN'I'OR. JOHN F. WALTER 14 yhmzm Attorney PATENTEB DEC1 5 I976 SHEU 3 BF 6 lNl lz'N'l'Ok'. JOHN F. WALTER AttorneyPATENTEDIJEMSIHYB $541002 JOHN F. WALTER QWQM Horney nourrso MACHINE-The present invention relates to routing machines and more particularlyto a routing machine which is curvilinear in design and mayautomatically rout several workpieces of curvilinear configuration.

In certain manufacturing operations, it is quite frequently desirable toremove substantial amounts of material from workpieces so as to conformthe workpiece to a desired configuration. The removal process isfrequently conducted with routing machines because of their particularadaptability to this type of machining operation. This is particularlytrue in industrial operations where metal extrusions are utilized whichmust be greatly reduced in size and weight and where the finalendproduct must conform to rather complex configurations. A good exampleis in the aircraft industry where fuselage ribs and other elongatedstock must be conformed from normally extruded T-bar stock. In the caseof fuselage ribs the T-bar stock is normally stretch formed-in a stretchpress to accept the shape and radius of curvature for the desiredportion of the fuselage in which the particular rib will be utilized.

In the course of the routing operation, the workpiece, such as theT-shaped stock described above, will have the desired portions routedaway, which operation is'of course dictated by weight, strength andother design criteriato which the final production piece is to be put.

In current industry fabrication methods, hand routing is normallyemployed and each work piece is operated upon one at a time usingindependent routing fixtures, or blocks, with integral cam cutoutsspecifically designed to the part being worked upon. In practice theaforementioned router blocks are normally placed upon a work table andthen the workpiece is hand clamped into the router blocks, whichnecessitates tightening by hand of several fasteners-to maintain theworkpiece rigidly secured within the router block. After this isperformed, the machine operator then takes the block and handmanipulates the block across the cutting edge of the router bit. As isquite frequently the case, the router blocks are of substantial size andthis necessitates that there be more than one operator. The sheer sizeand weight of the large router blocks make this operation extremelyditficult and requires specialized cranes for moving the blocks in andout of storage areas. Also, the normal routing operation only machinesone workpiece at a time since it has not been feasible to machineseveral workpieces concurrently due to the size and weight of the routerblocks being utilized.

Therefore, a primary object of the present invention is the provision ofa routing machine which isautomatic in operation and will rout multipleworkpieces of curvilinear shape. The routing machine of this inventionis proposed to handle multiple workpieces at one time wherein these workpieces are placed in the self clamping system of the machine therebyeliminating handling of heavy routing blocks and of the manual clampingof each work piece to the routing block.

The present invention also proposes to automatically rout multipleworkpieces having a curvilinear configuration by means of a movablegantry associated withthe holding fixture portion of the routing machineand wherein the gantry contains suitable tracing equipment to follow apredetermined path around the holding fixture thereby guiding therouters in a prescribed manner. Additionally, the present proposedrouting machine will produce parts of high quality and accuracy at asubstantial reduction in labor and costs.

Other objects, advantages and capabilities of the invention will becomeapparent from the following description taken in conjunction with theaccompanyingdrawings showing only a preferred embodiment of theinvention.

In the drawings: 1

FIG. 1 is illustrative of an overall perspective view of the routingmachine of the present invention;

FIG. 2 is a partial front elevationview showing especially the gantry;

FIG. 3 is a vertical section view taken along lines 3-3 of FIG. 2:

FIG. 4 is a partial top view taken generally along lines 4-4 of FIG. 2;

FIG. 5 is a partial perspective view in elevation of one end of therouting machine taken along lines 5-5 of FIG. 1;

FIG. 6 is a vertical section view of the routing portions of the gantrytaken along lines 6-6 of FIG. 2; and

FIG. 7 is a partial elevation view of the top portion of the gantryshowing the control hydraulic cylinders broken away.

Referring to the drawings wherein like reference characters designatecorresponding parts throughout the several FIGS., the routing machine 11generally comprises two major components, one being the holding fixturel2 and the other being the gantry 13. The holding fixture 12 as shown inFIG. 1 is generally of semicircular configuration. This, however, is nota necessary requirement as this invention contemplates routing machinesof similar nature that could be of irregular shapes. The holding fixture12 is generally that portion of the routing machine which clamps boththe workpieces to be worked upon and the tooling template cam whichdetermines the final configuration of the workpieces.

The gantry I3 is designed to be movably attached to the holding fixture12 in such a manner that it moves about the periphery of the holdingfixture in a predetermined path so that the tracing equipment androuting equipment attached integrally to the gantry will perform theirdesired operations relative thereto. While the tracing and routingequipment of the gantry 13 is designed to perform routing on three axes,namely X, Y, and Z, the present invention as disclosed herein precludesthe use of Z axis routing as it is apparent that the holding fixture 12is of fixed radius and, therefore, the Z axis travel is fixed and thedepth of cut is'built into the routing motors. However, it should beapparent to one skilled in the art that the present machine could beeasily adapted to a three axis operation. Electrical, hydraulic, andpneumatic power is supplied to the gantry 13 through suitable conduits15 which are supported for circular movement by the boom 14.

The holding fixture 12 as has been noted is generally a semicircularpiece of equipment and is made up of a series of fixed plates maintainedat predetermined distances from one another and interspaced by a seriesof movable plates in stacked relation therewith. More specifically,referring to FIG. 3, the series of stacked plates are flanked by anupper tooling plate 21 and a lower tooling plate 27. Between theaforementioned plates there are fixed clamping plates 23 and 25 whichare held in spaced relation from one another and from the upper andlower tooling plates 21 and 27 respectively by means of through bolts 28in conjunction with positioning lock nuts 29. Located at spacedintervals along the through bolts 28 and fixedly maintained in properposition by the positioning lock nuts 29 are a series of bearing sleeves31. These hearing sleeves provide a bearing and stabilization surfacefor the movable clamping plates.

Interspaced between pairs of fixed plates are movable clamping plates22, 24, and 26. Each of these movable clamping plates are designed tohave apertures 32 suitable for sliding engagement with the bearingsleeves 31. Referring particularly to FIG. 4, it is seen that for easeof manufacture in the initial tooling the fixed and movable clampingplates, in addition to the upper and lower tooling plates, are normallymade segmented and then fastened together with suitable fasteners 30.The upper and lower tooling plates, movable clamping plates and fixedclamping plates all coact with one another to form the clamping systemof the holding fixture 12 which maintains the workpieces 34 and toolingtemplate cam 33 in desired operative positions.

Referring again to FIG. 3 for a view in cross section of the clampingsystem, it is noted that the upper tooling plate 21 has dependingperpendicularly from the forward face thereof a T- shaped pusher plate21a. The pusher plaw 21a is designed for reciprocative movement into andout of a channel formed by a pair of flanking clamping hose guides 35which are attached to the forward portion of movable clamping plate 22.Similar clamping hose guides 36 and 37 are affixed to respective movableclamping plates 24 and 26. The latter clamping hose guides receive forreciprocative movement therein pusher plates 23a and 25a which areattached respectively to fixed clamping plates 23 and 25. Q

in order that the tooling template cam 33 and the workpieces 34 may befixedly secured in proper operative position there are provided sets ofjaws affixed to the various clamping and tooling plates which areadapted to' clampingly engage the template cam 33 and the workpieces 34in a manner to be described. Each of the movable clamping plates 22, 24and 26 have affixed to their forward edges a downwardly depending jawrespectively indicated by numerals 38, 40, and 42. The aforementionedjaws are affixed to the respective movable clamping plates by means ofsuitable fasteners 20. Projecting upwardly from the fixed clampingplates 23 and 25 and the fixed lower tooling plate 27 are lower jaws 39,41 and 43, respectively. These latter jaws are so placed as to be inperfect registry with the depending clamping jaws '38, 40 and 42 therebyforming jaw pairs so that, when the jaws are in a clamped relation, thetooling template cam 33 and the workpieces 34 are firmly positionedtherebetween. It should be noted that the jaws as above describedaresuitably affixed to the front faces of the various clamping plates byfasteners 20. It follows that the jaws must have the same radius ofcurvature as the front faces of the clamping plates. This radius ofcurvature is obviously the same radius as the tooling template cam andthe workpieces.

As just discussed, the jaw pairs of the routing machine are designed toclampingly engage the workpieces and the tooling template cam. This ofcourse necessitates some means for lifting the jaws apart so that theworkpieces'and the tooling template cam, if desired, may be removed fromthe jaws in order that additional workpieces may be positioned thereinpreparatory to routing them. This is accomplished by lifting the movableclamping plates 22, 24, and 26 by a lifting means mounted near thecenter of gravity of each movable clamping plate thereby providing anequalized lifting pressure so that the clamping plates are balanced andraised evenly. Each of the movable clamping plates 22, 24, and 26 haveaffixed to their undermost sides lifting plates 44, 45, and 46,respectively. These lifting plates may of course take any suitableshape. However, it has been found that thickened, l-shaped beams arequite suitable. Each of the lifting plates rides up and down in achannel formed by respective sets of generally L-shaped lifting hosechannel guides 47, 48, and 49. The channel guides are affixed byfasteners in flanking relation with respect to the lifting plates uponrespective fixed clamping plates 23 and in addition to the'lower toolingplate 27.

To lift the movable clamping plates to a nonclamping position, a uniquelifting system is employed wherein pairs of pneumatically expandableelongated cylinders are utilized. Referring specifically to FIGS. 3 and5, it is seen that the respective lifting plates 44, 45, and 46 are eachmounted so thatzthese plates compress a pair of lifting hoses betweenthe lifting plates and the respective fixed clamping plates. The liftinghose channel guidesv 47, 48, and 49 provide sidewalls which maintain thelifting hoses in the required location and maintain the hoses with adesired curvature therein. It is seen that channel guides 47 encloselifting hoses 51 and 52 beneath lifting plate 44. Likewise, channelguides 48 maintain lifting hoses 53 and'54 in proper relation with thelifting plate 45 and channel guides 49 perform a like function forlifting hoses 55 and 56 with respect to lifting plate 46.

ing-actual practice it has been found that a very suitable pneumatic bagor lifting hose is the commonplace 4 6- inch diameter double-thicknessfire hose. While the ordinary type of 'fire hose is highly satisfactory,it should in no way be construed as limiting since specializedpneumaticbags may well be employed if desired.

During development of the present invention, it was found that. whilethe tooling and clamping plates were made of material having substantialdead weight, it was not believed that the entire clamping force upon thetooling template cam 33 and the workpieces 34 should be that produced bythe dead weight of the various clamping plates. Therefore, to provide apositive downward clamping pressure, upon the various jaws, a secondsystem of inflatable elongated pneumatic bags was employed directlyabove each jaw pair. in order to accomplish this function, pairs ofclamping hoses are provided. Movable clamping plate 22 is activateddownwardly at appropriate times by inflating clamping hoses 57 and 58which lie within clamping hose guides 35. Likewise, the movable clampingplate 24 is pressed downwardly to its firmclamping position by action ofclamping hoses 59 and 60 lying within clamping hose guides 36 andclamping hoses 6 1 and 62 lying within clamping hose guides 37 forcemovable clamping plate 26 downwardly to its firmly clamped position.

Referring now especially to FIG. 5,'the clamping hoses are supplied witha pneumatic pressure from the clamping hose manifold 63 and the liftinghoses are supplied with pneumatic pressure from the lifting hosemanifold 64. Each of the pairs of clamping hoses are supplied withpneumatic pressure from the clamping hose manifold 63 through piping 65to a regulating valve 66 and a dumping valve 67. The pressure is thencefed to a T-valve 68 which distributes the pressure between flexiblelines 69 and 70 for further distribution into the clamping hoses by wayof the end caps 71. The free ends of the clamping hoses are maintainedagainst unnecessary movement by means of restraining clamps 72 which areaffixed to vertical supports 73.

An arrangement similar to that just described for the clamping hoses isapplicable to the lifting hoses wherein the lifting hoses are suppliedpneumatic pressure from .the lifting hose manifold 64 through piping 74and regulating valve 75 into a control valve 76. Thence the pneumaticpressure flows through flexible lines 77 into the lifting hoses whichare capped by end caps 78. The major difference between the pneumaticsupply means of the lifting hoses as opposed to the clamping hoses isthat each separate lifting hose has its own regulating and controlvalves, while with the clamping hoses one regulating valve and onecontrol valve effectively control the operation of each pair of clampinghoses.

The concept behind this arrangement is that it is always desired to haveas much clamping pressure as practicable upon the workpieces and thetooling template cam. However, depending upon the size of the stock tobeinserted into the pairs of jaws, it may at times be desirable to onlyopen the jaws half of the maximum amount of opening possible. Therefore,with the arrangement as shown with the lifting hoses, one hose or theother of each pair may be activated by means of the control valves 76 sothat pneumatic pressure is supplied only to one hose consequentlylifting the clamping jaws half of the maximum possible distance. This isof course but a design feature for convenience of operation and toenable a conservation of pneumatic pressure. The free ends of the pairsof lifting hoses are maintained against unrestricted movement by meansof restraining clamps 79 attached to the vertical support 80.

Each of the valves 67 and 76 controlling the various pairs of eitherlifting or clamping hoses have associated therewith an electricallyoperated solenoid which controls the operation of the control valves sothat pneumatic pressure is supplied to the lifting and clamping hoses ordumped therefrom at proper times. The electrically operated solenoidsfor the control valves 67 and 76 are so interlocked through limitswitches 81 that it is impossible to activate and supply pneumaticpressure to the lifting hoses and clamping hoses at the same time asthis would destroy the routing machine .by putting counter forces in itthat might exceed the limits of the strength of the design.

Therefore, to prevent such an occurrence protective limit switches 81are adjacently disposed to the lower surface of each of the movableclamping plates 22, 24, and 26. These limit switches are operable tocontrol the solenoid of the clamping hose pairs control valves 67 sothat the movable clamping plates 22, 24, and 26 must be in a fully downposition resting against the limit switches 81 in order to make acircuit which will allow pneumatic pressure to flow into the pairs ofclamping hoses. This of course means that the pairs of lifting hosesmust be fully deflated before the movable clamping plates fall by theirown weight to the fully downward position thereby activating the limitswitches 81 to controllably fill the pairs of clamping hoses withpneumatic pressure.

Referring to FlG. 3, it is seen that the routing machine is in the fullyclamped operative mode wherein'the pairs of lifting hoses 51, 52 and 53,54 and 55, 56 are in the fully deflated configuration thereby allowingthe movable clamping plates 22, 24, and 26 to move to their fullydownward position. The inflatable clamping hose pairs 57, 58 and 59, 60and 61, 62 are shown in the fully inflated operative mode to therebyexert sufficient downward pressure upon the jaws 38, 40, and 42 therebyclamping the tooling template cam 33 and each workpiece 34 tightly inthe routing machine.

The above description has dealt with the holding fixture 12 and itsfunction. However, it is the gantry 13 which performs the routingfunction of the present inventiomReferring now specifically to FIGS. 2and 3, it is evident that the gantry 13 traverses around the peripheryof the holding fixture 12 so that the gantry is always at a precisefixed distance relative to the holding fixture. The gantry 13 generallycomprises a vertically mounted traversing support plate 82 suspendedfrom the holding fixture by means of an integrally upper gantry supportmechanism 83 and an integrally attached lower gantry support mechanism84. The upper and lower support mechanisms 83 and 84 are in effectstabilizing devices to keep the gantry rigidly secured with respect tothe holding fixture so that during the traversing feature of the gantrythere is no excessive chatter and lost motion in the gantry.

In order to provide for the unique stabilizing system each of the gantrysupport mechanisms 83 and 84 have a support plate 91 firmly attached tothe traversing support plate 82 and at 90 thereto extending in such amanner that it overlies the upper and lower way slots 92 and 93respectively. The support plates 91 have mounted thereto horizontalsupport guide rollers 95 positioned within the way slots 92 and 93 sothat these rollers bear against the forwardmost walls 920 and 93arespectively of the way slot.

Referring now to FIG. 4, it will be noted that to maintain pressure ofthe horizontal support guide rollers 95 against the forward walls of theway slots there is provided a pair of stabilizing arms 96 and 97 whichalso generally overlie the way slots and flank the support plates 91.These stabilizing arms are properly mounted to the support plates bymeans of a set screw 98 and a lock screw 99. However, the stabilizingarms are spaced from the support plate by means of a pivot member 101spacing the arms from the support plate and which enables thestabilizing arms to pivot in a horizontal manner relative to each of thesupport plates 91. Each stabilizing arm has a depending horizontallymounted roller 102 which rests within the way slots 92 and 93 and whichare adjusted by movement of the stabilizing arms so that they bearagainst the rearmost sidewalls 92b and 9317 respectively of the wayslots. The stabilizing adjustment is taken care'of-by loosening the lockscrews 99 and either tightening or loosening the set screws 98 to such adegree that the stabilizing arms force rollers 95 of the support platesagainst the forward wall of the way slot while at the same time rollers102 of each stabilizing arm are forced against the rear wall of each wayslot. When the correct amount of adjustment is attained so that therollers are freely movable yet are firmly placed against the sidewallsof the way slots, the set screws 98 and lock screws 99 are tightened tomaintain this relative position and provide proper tension betweenrespective support plates and way slots. In this way the gantry 13 ismaintained a fixed distance from the forwardmost face of the holdingfixture 12. To maintain the gantry 13 in a proper vertical position withrespect to the holding fixture 12 the upper support plate 91 has a pairof upper vertical support guide rollers 103 which engage the upperroller way surface 104 which is a portion of the upper tooling plate 21.The lower gantry support plate 91 has in turn lower vertical supportguide rollers 103 which are placed upon the lower roller way 105. Thelower roller way surface 105 is a way member attached to the lowersurface of the lower tooling plate 27.

The entire gantry 13 is traversed around the periphery of the holdingfixture 12 by means of a hydraulic motor drive 106, as seen in P16. 2,acting through a gear box 107 which in turn rotates a gantry drive shaft108. The drive shaft 108 is mounted for rotation within bearing holders109 spaced at selected intervals along the length of the drive shaft andattached to the traversing support plate 82. The drive shaft has a pairof drive pinions 111 and 112 which mesh with an upper rack gear 113 anda lower rack gear 114 respectively. These rack gears are mounted on theforward peripheral surface of the holding fixture 12 and in particularupon the forward edge of plates 21 and 27.

The traversing support plate 82 is the movable fixture which carries thetracer valve 115 and the two router motors 116 and 117 with theirassociated cutter bits 118. It has been noted that the gantry 13 movesabout the holding fixture 12 by means of the drive shaft engaging thedrive pinions with the rack gears. However, to move the traversingsupport plate 82 in a vertical direction in order to give a Y directioncontrol to the router cutter bits there is provided a pair of verticalgantry ways 119 which interconnect the support plates 91 and allow thevertical movement of the traversing support plate 82 by means of waysliders 120 which are affixed at the four corners of the traversingsupport plate. I

The actual vertical movement of the traversing support plate 82 isaccomplished by a double-acting hydraulic cylinder 121 which is suppliedhydraulic power through lines 122. The upper end of the verticalmovement cylinder 121 is afiixed to portions of the upper gantry supportmechanism 83, while the lower end of the cylinder 121 has its piston rod123 attached by suitable bracket means 124 to the upper yoke 125 of thesupport plate 82. Upon suitable pressurization of the hydraulic lines122, as controlled by the action of tracer valve 115, the double actingcylinder 121 causes the traversing support plate 82 to move eitherupwardly or downwardly in a vertical direction.

Because of the massive weight and size of the gantry 13 and inparticular of the traversing support plate 82, it was found desirable tocounterbalance the weight of the support plate 82 by means of acounterbalance cylinder 126 one end of which is connected to the gantrysupport mechanism 83 while the piston rod 127 of the lower end issuitably connected through bracket means 128 to the yoke 125 of thesupport plate. As may be readily seen, the use of a counterbalancecylinder such as the one noted will effectively reduce the size ofcylinder 121 needed for vertical movement of the support plate 82. Byuse of the counterbalance cylinder 126 there is established for thesupport plate 82 a relative zero weight thereby allowing a more precisecontrol of vertical movements by the hydraulic cylinder 121.

The horizontal and vertical movements of the gantry are controlledeffectively by the tracer valve 115 and its associated stylus 129. Thetracer valve 115 shown in the present drawings is a three-dimensional360 hydraulic tracing valve which is designed to follow the toolingtemplate cam 33, the configuration of which is sensed by the stylus 129and transmitted through the fluid control lines 131 and evaluated withinthe tracer system control panel 132. The present tracing system is shownas hydraulically operated since it was felt that a hydraulic systemwould be quite suitable for the intended purpose and somewhat lessexpensive. However, an electronic tracer system could obviously be usedand this might be advantageous should a larger gantry be utilized sincean electronic system has the advantage of being able to amplify a weaksignal to drive large DC motors and the like to move a greater mass.

The present tracer valve 115 is mounted upon an adjustment bracket 133in which there is incorporated a tracer depth control 134 and a tracerhorizontal offset control 135. The latter two controls allow the tracerto be offset in either the X or Y direction and the relationship of thetracer with respect to the to'oling template cam 33 may be changed sothat the two router motors 116 and 117 may be placed either directlybelow the tracer valve or offset thereto in order that .any degreeofoffset between the tracer valve and the router motors may be obtained.

Referring now to FIGS. 6 and 7, the two router motors are fixed to thegantry with the exception that they are mounted upon a router motormounting plate 136 which is itself relatively movable with respect tothe traversing support plate 82. That is, the router motor mountingplate 136 is adapted to move horizontally toward and from the traversingsupport plate 82 and is supported therewith upon a plurality ofcylindrical slides 137. The router motor mounting plate 136 is movableso that, if it is desired to traverse the gantry 13 along the peripheryof the holding fixture 12 without cutting, then the mounting plate 136may be reciprocated to its position farthest removed from the traversingsupport plate 82 thereby bringing the router cutters 118 out ofengagement with the workpieces to allow rapid traversing. Thereciprocative movement of the router motor mounting plate 136 isaccomplished by a pair of double-acting cylinders 138 whose piston rods139 are fixedly secured to the traversing support plate 82 by means offastening nut 141.

While it has been stated that the router motors 116 and 117 are notnormally movable, it should be brought forth clearly, however, that eachrouter motor in turn may be individually set for depth of cut of theworkpiece by means of respective depth controls 142 and 143. These depthcontrols allow a precise engagement as to depth of each cutter bit 118with respect to the workpieces 34. The router motors of the instantapplication are of the pneumatic type supplied through pressure lines144. However, this type of motor could easily be replaced by anelectrical router motor if the need should arise. The mode of operationof the router motor is relatively immaterial since the router motorswill perform their intended functions.

in normal operation of the present routing machine, the machine operatorwould control the lifting hoses and clamping hoses through the varioussolenoid controlled valves 67 and 76 so that the clamping hoses 57,58and 59, 60 and 61, 62 would be completely deflated and the lifting hoses51, 52 and 53,54 and S5, 56 would be completely inflated to thereby openthe three pairs ofjaws 38, 39 and 40, 41 and 42, 43. As was notedearlier, if it is desired that the jaws not open full depth, then onlyone lifting hose of each pair need to be inflated. This is of courseaccomplished by only opening one of the two valves 76't0 each pair oflifting hoses. When the jaws are open the desired amount, a toolingtemplate cam is properly inserted between jaws 38 and 39 whileworkpieces 34 are inserted between jaws 40, 41 and 42, 43. Of course, ifdesired only one workpiece needs to be utilized with the remaining jawpair being left empty. At this time the operator will then completelydeflate the lifting hoses and once this is completed by indication oflimit switches 81, the clamping hoses 57, 58 and 59, 60 and 61, 62 arefully inflated to provide a firm clamping pressure against the insertedmembers between the jaw pairs.

@At this point, the gantry 13 will normally have been previouslyreciprocated to one end of the routing machine and the tracer valve 115and router motors 116 and 117 will have been adjusted for proper depthof cut and proper and desired alignment with one another. Once thetooling template cam 33 and the workpieces 34 are properly clamped inplace, the gantry 13 is then energized by the machine operator and itbegins to move around the periphery of the routing machine by motion ofthe drive shaft 108 transmitted through the pinions 111 to the rackgears 113 and 114. As the tracer valve stylus 129 engages the toolingtemplate cam, the router bits 118 begin to cut the workpieces 34 intothe same configuration as the tracer stylus is indicating by itsmovement along the cam. The routing continues until the end of the cam33 and the work pieces 34 is reached, whereupon the gantry may betraversed in the opposite direction should another portion of theworkpiece need routing. To release the workpieces 34 after a completerouting process it is only necessary for the machine operator to deflatethe clamping hoses and inflate the lifting hoses thereby opening thejaws.

While 1 have particularly shown and described one particular embodimentof the invention, it is distinctly understood that the invention is notlimited thereto but that many modifications may be made within the scopeof the invention and such variations as are covered by the scope of theappended claims.

lclaim:

A routing machine comprising'a holding fixture having a plurality of jawmeans for holding at least one template and one workpiece, the jaw meansincluding separate sets of movable clamping jaws into which the templateand workpiece are removably retained, expansible means coacting with theclamping jaws to open and close the jaws, track means integral with theholding fixture, a gantry movable with respect to the holding fixtureincluding drive means engaging the track means to traverse the gantryaround at least a portion of the peripheral edge of the holding fixtureat a predetermined distance therefrom, a tracer means mounted on thegantry for movement therewith and adapted to operatively engage thetemplate, cutting means mounted on the gantry for movement therewith indirect controlled relation to the movement of the tracer means andadapted to operatively engage the workpiece, whereby when the gantrytraverses the peripheral edge of the holding fixture the cutting meansas controlled by the tracer means operatively routs the workpiececorresponding to the configuration of the template. i

2. The routing machine as claimed in claim 1, wherein the portion of theperipheral edge of the holding fixture which the gantry traverses is ofcurvilinear configuration.

3. A routing machine comprising a holding fixture having a plurality ofparallel horizontally and alternately disposed movable and nonmovableflat planar plates wherein predetermined ones of the alternatelydisposed plates are movable in a vertical direction at desired times,perpendicularly mounted jaw means attached to a first edge of each ofthe planar plates so that plates adjacently located form a jaw pair ofregistered jaw means, track means integral with the holding fixture, agantry movable with respect to the holding fixture including drive meansengaging the track means to traverse the gantry along the first edge ofthe planar plates at a predetermined distance therefrom, a tracer meansmounted on the gantry for movement therewith and adapted to operativelyengage a template engaged by one jaw pair, cutting means mounted on thegantry for movement therewith in direct controlled relation to themovement of the tracer means and adapted to operatively engage aworkpiece engaged by a second jaw pair, whereby when the gantrytraverses the first edge of the planar plates the cutting means ascontrolled by the tracer means operatively routs the workpiececorresponding to the configuration of the template.

4. The routing machine as claimed in claim 3, wherein the first edge ofeach of the planar plates has a curvilinear configuration.

5. The routing machine as claimed in claim 3, wherein stabilizing meansinterconnect the gantry to the holding fixture to maintain the gantry atthe predetermined distance from the holding fixture.

6. A routing machine comprising a holding fixture having a plurality ofparallel horizontally and alternately disposed movable and nonmovableflat planar plates wherein predetermined ones of the alternatelydisposed plates are movable in a vertical direction at desired times,means for selectively reciprocating the movable plates with respect tothe nonmovable plates, perpendicularly mounted jaw means attached to afirst edge of each of the planar plates so that plates adjacentlylocated form a jaw pair of registered jaw means, a gantry movable withrespect to the holding fixture including drive means to traverse thegantry along the first edge of the planar plates at a predetermineddistance therefrom, control means for controlling the movement of thegantry, cutting means mounted on the gantry for movement therewith andadapted to operatively engage a workpiece clampingly engaged by one jawpair, whereby when the gantry traverses the first edge of the planarplates the cutting means operatively routs the workpiece to correspondto a predetermined configuration.

7. The routing machine as claimed in claim 6, wherein sta bilizing meansinterconnect the gantry to the holding fixture to maintain the gantry atthe predetermined distance from the holding fixture.

8. A routing machine comprising a holding fixture having a plurality ofparallel horizontally .and alternately disposed movable and nonmovableflat planar plates in stacked relation wherein predetermined ones of thealternately disposed plates are movable in a vertical direction atdesired times, means for selectively reciprocating the movable plateswith respect to the nonmovable plates, perpendicularly mounted jaw meansattached to a first edge of each of the planar plates so that platesadjacently located form a jaw pair of registered jaw means, track meansintegral with the holding fixture, way means integral with the holdingfixture, the first edge of each of the planar plates having acurvilinear configuration, a gantry movable with respect to the holdingfixture including drive means engaging the track means to traverse thegantry along the first edge of the planar plates at a predetermineddistance therefrom, stabilizing means interconnecting the gantry to theway means of the holding fixture, a tracer means mounted on the gantryfor movement therewith and adapted to operatively engage a templateengaged by one jaw pair, cutting means mounted on the gantry formovement therewith in direct controlled relation to the movement of thetracer means and adapted to operatively engage a workpiece engaged by asecond jaw pair whereby when the gantry traverses the first edge of theplanar plates the cutting means as controlled by the tracer meansoperatively rout the workpiece corresponding to the configuration of thetemplate.

9. A routing machine as claimed in claim 8, wherein the means forselectively reciprocating the movable interposed plates comprisesexpansible lifting means disposed between jaw pairs of movable andnonmovable flat planar plates.

10. The routing machine as claimed in claim 9, wherein expansibleclamping means are disposed between jaw pairs of movable and nonmovableflat planar plates.

11. The routing machine as claimed in claim 10, including control meansfor expanding and contracting the lifting means and clamping means atalternative times, limit means preventing both the lifting means andclamping means from being concurrently operable.

12. The routing machine as claimed in claim 11, wherein the expansiblelifting and clamping means are elongated pneumatically inflatable bags,the clamping bags being positioned substantially on a line passingthrough the jaw pairs to thereby enable clamping pressure to be directedto the immediate vicinity of the jaw pairs.

13. The routing machine as claimed in claim 8, wherein the stabilizingmeans comprises an upper and a lower support plate, the support platesbeing attached to the distal ends of the gantry and overlying the waymeans, roller means integral with the upper and lower support plates andengaging respective way means.

14. The routing machine as claimed in claim 13, wherein the stabilizingmeans further includes adjustable tension means between the supportplates and the respective way means.

15. The routing machine as claimed in claim 14, wherein the way meansincludes a way slot disposed in each of the upper tooling plate and thelower tooling plate, the adjustable tension means comprising a pair ofstabilizing arms each having integral roller means and being pivotallyattached to and flanking each support plate, the stabilizing arms beinghorizontally adjustable with respect to the support plates,

whereby horizontal adjustment of the stabilizing arms provides optimumengagement of the roller means of each support plate and eachstabilizing arm with respective way slots.

16. A method of routing a workpiece to the configuration of a template,the steps comprising providing a holding fixture having pairs ofinitially open clamping jaws, providing the clamping jaws with bothopening and clamping expansible pneumatic containers, inserting thetemplate and workpiece into respective pairs of clamping jaws, expandingthe clamping pneumatic containers to close the initially open clampingjaws to fixedly secure the template and the workpiece, providing agantry having at least one template tracer and at least one router formovement relative to the clamping jaws, moving the template tracer totrace the configuration of the template, moving the router in conformitywith movements of the template tracer to thereby rout the work piece,deflating the clamping pneumatic containers and inflating the openingpneumatic containers thereby opening the clamping jaws, and removing theworkpiece.

